Newport ESP6000 User Manual page 117

esp_set_jerk Set Axis Jerk Rate
esp_get_jerk Report Axis Jerk Rate Setting
Synopsis:
Arguments:
Library Location:
Description:
Returns:
Usage Example:
See Also:
Section 5 — Programming
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#include "esp6000.h"
int esp_set_jerk(long axis, float jerk)
int esp_get_jerk(long axis, float *jerk)
long axis
axis number from 1-6
float jerk
set desired jerk rate in user units/seconds
\esp6000.dll
esp_set_jerk() sets the target jerk rate for the specified axis. This parameter should only
be set while the axis is stopped. Jerk is the derivative of acceleration.
esp_get_jerk() reports the target jerk rate for the specified axis.
The jerk parameter is only effective when the specified axis' trajectory mode is set
to SCURVE.
ESPOK, ESPERROR
Hint:
#include "esp6000.h"
main()
{
long error, servotick;
if (!esp_init_system())
{
printf("ESP6000 Not Initialized! \r\n");
exit(-1);
}
/* set S-Curve trajectory mode */
esp_set_traj_mode(1, SCURVE);
/* set axis 1 trajectory parameters */
esp_set_speed(1, 30.0);
esp_set_accel(1, 200.0);
esp_set_decel(1, 150.0);
esp_set_jerk(1, 10.0);
/* check error status */
esp_get_error_num(&error,&ServoTick) ;
if (error) printf("Error %d Reported!\r\n", error);
}
esp_get_jerk(), esp_set_speed(), esp_set_accel(), esp_set_decel(), esp_traj_mode(),
esp_set_resolution()
3
NOTE
5-51